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micrortps_client.cpp.template: avoid 0-init & check result of orb_copy

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Beat Küng
2017-08-02 10:39:09 +02:00
committed by Lorenz Meier
parent de8e0b54b6
commit 77785c01ef
1 changed files with 9 additions and 8 deletions
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17
msg/templates/uorb/microRTPS_client.cpp.template
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@@ -106,14 +106,15 @@ void* send(void* /*unused*/)
if (updated)
{
// obtained data for the file descriptor
struct @(topic)_s data = {};
struct @(topic)_s data;
// copy raw data into local buffer
orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data);
serialize_@(topic)(&data, data_buffer, &length, &microCDRWriter);
if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
{
total_sent += read;
++sent;
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
serialize_@(topic)(&data, data_buffer, &length, &microCDRWriter);
if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
{
total_sent += read;
++sent;
}
}
}
@[end for]@
@@ -207,7 +208,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
@[end if]@
// loop forever if informed loop number is negative
if (_options.loops > 0 && loop >= _options.loops) break;
if (_options.loops >= 0 && loop >= _options.loops) break;
usleep(_options.sleep_ms*1000);
++loop;